SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 171 * Raw log
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• Previous call tries 4 • 67.34 of 350.00 AH used of 24V (80.76% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -0.89 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 3 s • Transponder ping count: 1
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
15 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 96 done -0.90 - - 109 - - - 2784 - -116.8 -74.68 - 3516 - - - - - - - - 14.66 13.19 14.66
98 1.1 -6.9 2 120 roll -0.90 11.80 0.394 2603 211.4 2.38 0.041 1375 -592.0 -116.8 - - 3518 - - - - - - - - 14.23 14.45 14.51
202 49.2 -27.6 18 210 done -0.51 0.47 0.261 2732 274.5 2.47 0.069 2758 559.9 -116.8 - - 3518 - - - - - - - - 14.24 14.41 14.50
538 90.4 -9.3 33 547 roll -0.51 - - 2729 - 1.98 0.105 3828 540.4 -116.8 - - 3519 - - - - - - - - 14.79 14.46 14.81
573 93.1 -8.3 38 580 done -0.51 - - 2724 - 1.77 0.039 2755 -606.2 -116.8 - - 3520 - - - - - - - - 14.69 14.64 14.69
931 117.1 -7.0 49 939 roll -0.51 - - 2716 - 2.00 0.103 3824 534.5 -116.8 - - 3521 - - - - - - - - 14.85 14.50 14.85
1034 125.0 -7.4 64 1044 done -0.51 - - 2716 - 1.73 0.038 2777 -605.2 -116.8 - - 3521 - - - - - - - - 14.73 14.69 14.73
1379 147.9 -6.5 71 1386 roll -0.51 - - 2716 - 2.30 0.046 1391 -602.6 -116.8 - - 3519 - - - - - - - - 14.88 14.62 14.89
1426 151.4 -7.1 78 1436 done -0.51 - - 2706 - 2.45 0.067 2782 567.8 -116.8 - - 3523 - - - - - - - - 14.64 14.55 14.67
1771 176.7 -7.4 85 1778 roll -0.51 - - 2698 - 1.92 0.106 3821 541.1 -116.8 - - 3517 - - - - - - - - 14.88 14.51 14.88
1811 179.9 -7.7 91 1820 done -0.51 0.10 0.227 2728 300.0 1.73 0.040 2784 -599.4 -116.8 - - 3516 - - - - - - - - 14.47 14.71 14.66
2163 202.0 -6.3 99 2169 roll -0.61 - - 2728 - 2.35 0.049 1386 -594.9 -116.8 - - 3514 - - - - - - - - 14.88 14.62 14.89
2260 208.3 -6.4 113 2268 done -0.72 0.08 0.093 2659 -862.5 2.47 0.069 2781 564.8 -116.8 - - 3513 - - - - - - - - 14.60 14.55 14.65
2610 238.7 -8.9 121 2618 roll -0.72 - - 2651 - 1.95 0.107 3825 535.4 -116.8 - - 3509 - - - - - - - - 14.90 14.50 14.90
2738 250.6 -9.6 139 2754 done -0.72 - - 2650 - 1.67 0.042 2778 -626.9 -116.8 - - 3508 - - - - - - - - 14.78 14.73 14.78
3067 283.4 -10.1 150 3080 done -0.72 - - 2650 - - - 2779 - -116.8 - - 3506 - - - - - - - - 14.93 14.93 14.97
3403 318.5 -10.5 156 3416 roll -0.72 - - 2643 - 1.95 0.108 3827 537.4 -116.8 - - 3503 - - - - - - - - 14.96 14.58 14.96
3449 323.5 -10.6 162 3462 done -0.72 - - 2642 - 1.73 0.043 2783 -603.5 -116.8 - - 3503 - - - - - - - - 14.76 14.73 14.81
3803 359.3 -10.0 170 3816 roll -0.72 - - 2644 - 2.35 0.050 1381 -596.6 -116.8 - - 3501 - - - - - - - - 14.97 14.67 14.97
3842 363.3 -9.9 175 3855 done -0.72 0.12 0.241 2668 200.0 2.45 0.072 2785 573.1 -116.8 - - 3501 - - - - - - - - 14.47 14.62 14.71
4203 393.1 -8.0 184 4217 roll -0.72 - - 2661 - 1.90 0.112 3826 547.9 -116.8 - - 3498 - - - - - - - - 14.97 14.57 14.96
4242 396.4 -8.5 189 4255 done -0.72 - - 2660 - 1.67 0.044 2796 -616.8 -116.8 - - 3498 - - - - - - - - 14.81 14.76 14.83
4604 425.3 -8.0 198 4617 roll -0.72 - - 2660 - 2.38 0.047 1373 -597.9 -116.8 - - 3496 - - - - - - - - 14.96 14.69 14.96
4628 427.4 -8.4 201 4642 done -0.72 - - 2650 - 2.47 0.068 2791 574.1 -116.8 - - 3495 - - - - - - - - 14.78 14.63 14.84
4948 456.7 -9.3 211 4961 roll -0.72 - - 2643 - 1.90 0.109 3833 548.4 -116.8 - - 3492 - - - - - - - - 14.96 14.57 14.95
4980 459.9 -9.6 215 4993 done -0.72 - - 2642 - 1.73 0.044 2776 -611.0 -116.8 - - 3493 - - - - - - - - 14.82 14.77 14.83
5349 496.7 -10.1 225 5362 done -0.72 - - 2641 - - - 2776 - -116.8 - - 3496 - - - - - - - - 14.96 14.95 14.96
5685 530.0 -9.8 231 5697 done -0.72 - - 2642 - - - 2775 - -116.8 - - 3490 - - - - - - - - 14.96 14.96 14.96
6021 561.0 -9.2 237 6034 roll -0.72 - - 2642 - 2.35 0.047 1376 -595.3 -116.8 - - 3488 - - - - - - - - 14.96 14.67 14.96
6081 566.5 -8.9 245 6095 done -0.72 0.12 0.248 2667 208.3 2.50 0.069 2785 563.6 -116.8 - - 3488 - - - - - - - - 14.43 14.60 14.68
6422 592.0 -7.4 258 6435 roll -0.72 - - 2660 - 1.92 0.112 3829 543.8 -116.8 - - 3486 - - - - - - - - 14.95 14.53 14.95
6454 594.5 -7.6 262 6467 done -0.72 - - 2659 - 1.73 0.045 2778 -607.5 -116.8 - - 3486 - - - - - - - - 14.80 14.73 14.81
6822 621.7 -7.4 272 6836 roll -0.72 - - 2659 - 2.38 0.048 1368 -592.4 -116.8 - - 3482 - - - - - - - - 14.95 14.64 14.95
6896 627.3 -7.5 282 6910 done -0.72 - - 2650 - 2.50 0.070 2788 568.0 -116.8 - - 3484 - - - - - - - - 14.75 14.59 14.78
7223 653.3 -8.1 293 7236 done -0.72 - - 2650 - - - 2789 - -116.8 - - 3482 - - - - - - - - 14.95 14.95 14.95
7559 681.4 -8.4 299 7572 done -0.72 - - 2650 - - - 2789 - -116.8 - - 3482 - - - - - - - - 14.95 14.95 14.98
7895 710.7 -8.7 305 7908 roll -0.72 - - 2650 - 2.42 0.049 1375 -584.3 -116.8 - - 3479 - - - - - - - - 14.95 14.62 14.94
7948 715.4 -8.7 312 7961 done -0.72 - - 2641 - 2.47 0.071 2781 569.2 -116.8 - - 3479 - - - - - - - - 14.73 14.56 14.75
8291 745.3 -8.6 319 8304 done -0.72 - - 2641 - - - 2781 - -116.8 - - 3481 - - - - - - - - 14.94 14.94 14.94
8628 772.7 -8.0 325 8641 roll -0.72 - - 2638 - 2.40 0.050 1376 -585.4 -116.8 - - 3477 - - - - - - - - 14.95 14.62 14.95
8674 776.4 -8.0 331 8687 done -0.72 0.12 0.246 2667 241.7 2.47 0.072 2777 567.2 -116.8 - - 3477 - - - - - - - - 14.39 14.56 14.64
9029 799.5 -6.5 339 9042 done -0.72 - - 2666 - - - 2777 - -116.8 - - 3477 - - - - - - - - 14.94 14.94 14.94
9364 820.9 -6.4 345 9378 roll -0.72 - - 2666 - 2.42 0.050 1369 -581.8 -116.8 - - 3475 - - - - - - - - 14.95 14.59 14.94
9418 824.2 -6.5 352 9432 done -0.72 - - 2657 - 2.50 0.074 2775 562.4 -116.8 - - 3474 - - - - - - - - 14.69 14.53 14.69
9762 848.1 -7.0 359 9774 done -0.72 - - 2657 - - - 2775 - -116.8 - - 3473 - - - - - - - - 14.92 14.92 14.92
10098 873.2 -7.6 365 10111 roll -0.72 - - 2657 - 2.40 0.051 1378 -582.1 -116.8 - - 3472 - - - - - - - - 14.91 14.60 14.92
10144 876.9 -6.0 371 10157 done -0.72 - - 2649 - 2.47 0.073 2776 566.0 -116.8 - - 3472 - - - - - - - - 14.71 14.54 14.73
10499 905.2 -8.1 379 10512 roll -0.72 - - 2648 - 2.40 0.050 1377 -582.9 -116.8 - - 3471 - - - - - - - - 14.91 14.58 14.92
10551 909.4 -6.8 386 10565 done -0.72 - - 2639 - 2.50 0.073 2774 558.8 -116.8 - - 3471 - - - - - - - - 14.69 14.51 14.73
10837 end dive: TARGET_DEPTH_EXCEEDED
10837 begin apogee
10843 933.4 -8.3 392 10966 roll -0.23 0.62 0.197 2820 291.9 - - 2228 - - 113.05 1.954 3051 -3.7 0.339 - - - - - - 14.38 14.05 13.32
10967 end apogee: CONTROL_FINISHED_OK
10967 begin climb
10969 936.8 - 394 11110 roll 0.90 1.12 0.115 3175 317.0 2.42 0.060 869 -561.6 116.8 122.47 1.952 2580 -3.8 0.352 - - - - - - 14.04 14.08 13.16
11332 912.5 8.7 448 11345 done 0.75 0.10 0.265 3149 -260.0 2.45 0.056 2264 569.4 116.8 - - 2572 - - - - - - - - 14.09 14.27 14.35
11686 881.9 8.7 456 11700 roll 0.63 0.12 0.253 3117 -266.7 2.42 0.060 872 -575.2 116.8 - - 2571 - - - - - - - - 14.24 14.43 14.41
11921 864.1 7.2 489 11947 done 0.65 - - 3117 - 2.40 0.056 2259 577.9 128.1 10.07 2.126 2534 -3.7 0.285 - - - - - - 14.60 14.47 13.81
12253 838.1 8.0 501 12266 done 0.65 - - 3117 - - - 2260 - 128.1 - - 2532 - - - - - - - - 14.77 14.77 14.77
12589 812.2 7.7 507 12602 roll 0.65 - - 3117 - 2.58 0.105 3653 539.9 130.0 - - 2532 - - - - - - - - 14.82 14.45 14.82
12614 810.4 7.3 510 12640 done 0.58 0.15 0.245 3084 -220.0 2.35 0.045 2259 -593.2 139.6 12.50 2.059 2490 -3.4 0.252 - - - - - - 14.33 14.60 13.85
12989 784.3 7.0 521 13017 done 0.60 - - 3087 - - - 2259 - 156.7 19.12 1.945 2427 -3.3 0.254 - - - - - - 14.78 14.49 13.81
13324 759.9 7.3 527 13349 roll 0.61 - - 3087 - 2.62 0.104 3653 532.1 166.6 10.80 2.059 2381 -4.3 0.300 - - - - - - 14.75 14.42 13.81
13375 755.9 8.1 534 13389 done 0.61 - - 3097 - 2.42 0.044 2248 -580.6 166.6 - - 2380 - - - - - - - - 14.55 14.49 14.57
13719 729.3 7.7 541 13733 roll 0.61 - - 3106 - 2.42 0.067 855 -575.6 167.7 - - 2377 - - - - - - - - 14.77 14.50 14.77
13758 726.2 7.5 546 13776 done 0.62 - - 3107 - 2.42 0.057 2257 579.3 173.2 3.42 1.542 2361 -4.7 0.421 - - - - - - 14.62 14.50 13.45
14118 698.7 7.6 555 14135 roll 0.62 - - 3106 - 2.62 0.108 3656 534.0 175.6 3.50 1.579 2354 -2.0 0.169 - - - - - - 14.81 14.53 13.48
14168 694.5 8.3 562 14182 done 0.62 - - 3117 - 2.42 0.045 2239 -585.5 175.6 1.12 0.308 2351 -2.7 1.153 - - - - - - 14.66 14.59 14.21
14512 667.6 7.8 569 14525 done 0.62 - - 3118 - - - 2234 - 175.6 - - 2358 - - - - - - - - 14.85 14.84 14.85
14848 641.2 7.9 575 14860 done 0.62 - - 3117 - - - 2234 - 175.6 - - 2358 - - - - - - - - 14.85 14.85 14.85
15184 613.8 8.2 581 15197 done 0.62 - - 3117 - - - 2234 - 175.6 1.10 0.295 2350 -7.3 2.888 - - - - - - 14.87 14.61 14.25
15520 585.2 8.6 587 15533 done 0.62 - - 3117 - - - 2234 - 175.6 - - 2358 - - - - - - - - 14.88 14.88 14.88
15856 556.3 8.6 593 15869 roll 0.62 - - 3117 - 2.67 0.106 3659 533.7 175.6 - - 2357 - - - - - - - - 14.88 14.48 14.88
15902 551.9 9.6 599 15915 done 0.62 - - 3129 - 2.40 0.046 2243 -590.0 175.6 - - 2363 - - - - - - - - 14.73 14.66 14.75
16256 521.7 8.5 607 16269 roll 0.62 - - 3136 - 2.40 0.068 863 -575.0 175.6 - - 2358 - - - - - - - - 14.88 14.55 14.88
16323 516.1 8.1 616 16336 done 0.62 0.12 0.231 3102 -283.3 2.40 0.057 2252 578.8 175.6 - - 2358 - - - - - - - - 14.38 14.56 14.64
16658 492.6 6.9 628 16695 roll 0.64 - - 3100 - 2.58 0.104 3654 543.4 193.4 24.55 1.639 2273 -3.5 0.199 - - - - - - 14.88 14.48 13.94
16735 486.7 8.1 639 16748 done 0.64 - - 3109 - 2.40 0.044 2244 -587.5 193.4 - - 2271 - - - - - - - - 14.61 14.54 14.62
17054 463.1 7.4 649 17067 done 0.65 - - 3110 - - - 2240 - 200.7 3.47 1.440 2251 -5.8 0.354 - - - - - - 14.78 14.59 13.54
17391 438.4 7.4 655 17416 roll 0.66 - - 3110 - 2.72 0.106 3661 522.4 208.6 13.10 1.700 2214 -2.8 0.139 - - - - - - 14.82 14.47 13.94
17435 434.8 8.2 661 17448 done 0.66 - - 3120 - 2.40 0.044 2251 -587.5 208.6 - - 2213 - - - - - - - - 14.62 14.54 14.63
17790 406.2 8.1 669 17803 roll 0.66 - - 3130 - 2.42 0.067 855 -576.9 208.6 - - 2212 - - - - - - - - 14.79 14.49 14.79
17815 404.1 8.3 672 17828 done 0.66 - - 3129 - 2.42 0.057 2254 578.1 208.6 - - 2211 - - - - - - - - 14.63 14.50 14.65
18134 376.4 8.8 682 18148 roll 0.66 - - 3130 - 2.58 0.105 3653 542.2 208.6 - - 2212 - - - - - - - - 14.82 14.45 14.82
18166 373.2 9.6 686 18179 done 0.66 - - 3140 - 2.38 0.044 2245 -591.6 208.6 - - 2210 - - - - - - - - 14.70 14.60 14.70
18535 338.5 9.5 696 18548 roll 0.66 - - 3151 - 2.38 0.067 864 -580.3 208.6 - - 2211 - - - - - - - - 14.86 14.53 14.86
18566 335.3 9.8 700 18579 done 0.66 0.12 0.224 3114 -308.3 2.38 0.057 2266 589.1 208.6 - - 2211 - - - - - - - - 14.39 14.53 14.63
18935 303.5 8.6 710 18948 roll 0.66 - - 3113 - 2.55 0.102 3657 545.5 208.6 - - 2211 - - - - - - - - 14.87 14.47 14.86
18967 300.5 9.5 714 18980 done 0.66 - - 3122 - 2.38 0.042 2242 -594.5 208.6 - - 2211 - - - - - - - - 14.73 14.64 14.73
19335 269.3 8.4 724 19348 done 0.66 - - 3122 - - - 2236 - 208.6 - - 2211 - - - - - - - - 14.87 14.87 14.87
19672 242.5 7.8 730 19685 roll 0.66 - - 3123 - 2.65 0.103 3663 538.5 208.6 - - 2212 - - - - - - - - 14.88 14.47 14.88
19710 239.2 8.6 735 19723 done 0.66 - - 3133 - 2.38 0.044 2256 -591.2 208.6 - - 2211 - - - - - - - - 14.72 14.63 14.73
20072 211.8 7.6 744 20085 roll 0.67 - - 3143 - 2.42 0.067 852 -580.2 211.9 - - 2211 - - - - - - - - 14.88 14.55 14.92
20096 209.8 7.6 747 20115 done 0.67 - - 3143 - 2.42 0.056 2267 584.7 215.1 3.83 1.371 2194 -4.4 0.130 - - - - - - 14.71 14.57 13.69
20470 179.1 8.2 758 20483 done 0.67 - - 3143 - - - 2266 - 215.1 - - 2200 - - - - - - - - 14.88 14.88 14.88
20806 151.8 8.1 764 20819 roll 0.67 - - 3153 - 2.45 0.066 857 -575.1 215.1 - - 2201 - - - - - - - - 14.88 14.57 14.88
20852 147.8 8.4 770 20865 done 0.67 0.12 0.218 3115 -316.7 2.40 0.055 2261 585.0 215.1 - - 2201 - - - - - - - - 14.42 14.57 14.62
21207 123.0 6.8 778 21240 roll 0.70 - - 3116 - 2.60 0.101 3654 535.8 235.4 21.58 1.245 2109 -4.3 0.080 - - - - - - 14.89 14.54 14.09
21323 113.9 8.0 794 21336 done 0.70 - - 3123 - 2.38 0.042 2246 -591.6 235.4 - - 2107 - - - - - - - - 14.62 14.54 14.63
21658 91.6 6.5 808 21682 roll 0.73 - - 3121 - 2.67 0.100 3655 527.7 261.8 11.88 0.444 2006 -8.5 0.335 - - - - - - 14.82 14.50 14.21
21722 87.7 6.1 817 21754 done 0.86 0.08 0.144 3195 925.0 2.33 0.041 2264 -597.0 297.8 18.15 0.436 1866 -7.7 0.296 - - - - - - 14.57 14.61 14.21
22075 65.7 5.7 834 22109 roll 0.91 - - 3195 - 2.65 0.099 3661 527.2 342.7 21.55 0.372 1686 -8.4 0.282 - - - - - - 14.81 14.47 14.23
22136 62.1 6.4 842 22162 done 0.95 - - 3203 - 2.35 0.041 2261 -595.7 371.5 14.57 0.360 1570 -8.0 0.262 - - - - - - 14.66 14.59 14.23
22466 43.1 6.6 856 22491 roll 1.13 0.08 0.155 3285 1025.0 2.47 0.063 863 -566.0 397.5 12.88 0.305 1466 -8.1 0.218 - - - - - - 14.55 14.52 14.26
22719 30.6 5.0 892 22760 done 1.20 - - 3285 - 2.40 0.051 2279 590.0 456.0 28.80 0.265 1233 -8.1 0.178 - - - - - - 14.65 14.53 14.31
23075 9.6 5.9 909 23107 roll 1.36 0.08 0.148 3370 1062.5 2.42 0.060 865 -584.3 495.0 18.58 0.191 1077 -8.4 0.081 - - - - - - 14.59 14.53 14.38
23159 end climb: SURFACE_DEPTH_REACHED
23161 begin surface coast
23166 end surface coast: CONTROL_FINISHED_OK
23166 begin surface
SM 1.55 - - - - -8.39 9.50 0.093 194 20.4 3.33 0.060 2766 -2447.4 500.14 2.03 0.205 1057 520.6 -0.402 - - - - - -